Facing error during compilation of Iterative closest point algorithm

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Facing error during compilation of Iterative closest point algorithm

KIRUBHAKARAN
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I am trying to compile the program from this site.

(http://pointclouds.org/documentation/tutorials/iterative_closest_point.php)!

But during compilation i faced the following error.

'pcl::Registration<PointSource,PointTarget,Scalar>::setInputCloud' : cannot convert parameter 1 from 'boost::shared_ptr<T>' to 'const boost::shared_ptr<T> &'    \sample\kinect2_grabber.h   424 1   Sample
the code which got the error is as follows:-

icp.setInputCloud (cloud);
icp.setInputTarget (cloud);
I have declared this cloud inside the function convertRGBDepthToPointXYZRGB like this

pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud( new pcl::PointCloud<pcl::PointXYZRGB>() );
I don't know how to rectify the above error.Please somebody help me to solve the above error.

Thanks